일본군`위안부`의 동원 체계

하종문(河棕文) 성곡언론문화재단 2001 성곡논총 Vol.32 No.1

알코올 중독의 사회적 이슈들과 제도적 보완

하종은 알코올과 건강행동학회 2019 한국알코올과학회 학술대회 Vol.2019 No.04

Improved Algorithm for the Extrinsic Calibration of a Camera and Laser Range Finder using 3D-3D Correspondences

하종은 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.5

Extrinsic calibration between a camera and laser range finder (LRF) is required to integrate information from both sensor. In this paper, we propose an improved algorithm of our earlier work [1] for the extrinsic calibration of a camera and laser range finder. We improve our previous algorithm in two directions. First, control points on laser range finder’s data are obtained by finding the crossing point of two fitted lines where previous algorithm directly used laser range finder’s data. It can reduce the effect of noisy measurement of laser range finder. Second, difference of distance on calibration plane is used as cost where previous algorithm used matching portion. Proposed algorithm gives an improved result than previous one. It is verified thorough experimental results.

Grouping Contents on Korean Road Signs

하종은 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.6

In this paper, we propose a method for grouping the content of Korean road signs into the five categories of Korean, English, direction symbol, road symbol and distance digit. The first step necessary to automate the inspection of road signs is to determine whether their content is reproduced as clearly as in the original design. Previously, inspections were performed manually by humans. In-stead, we deal with images that are acquired manually by digital cameras, using various features in-cluding color, relative length and size, reflecting the design rule for Korean road sign. We began by analyzing blobs that are obtained through connected component analysis after binarization. These are first grouped into two categories: direction symbol and size. Then, the road symbol is selected using color. Finally, the remaining blobs are grouped using the relative length between blobs. Experimental results using real images show the feasibility of the proposed algorithm.

A New Method for Detecting Data Matrix under Similarity Transform for Machine Vision Applications

하종은 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.4

Data matrices are widely used in the automotive, aerospace and computer manufacturing industries. In industry, they are used to identify objects used in process control. In this paper, we focus on detecting data matrices where a camera is configured to see it in a perpendicular direction that is typi-cal in machine vision applications. In this case, the image projection can be modeled as a similarity transform. Data matrices are attached or marked by laser on the surface of objects, and have L-shaped solid lines which act as references for decoding. Under a similarity transform, distances from the center of a data matrix to each side of the L-shape are equal. This symmetric property is used to detect a data matrix, and experimental results show the feasibility of the proposed algorithm.

사영 변환하의 합성 이미지를 이용한Mask R-CNN 기반 QR 코드 검출

하종은 제어·로봇·시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.9

Various types of 2D barcodes including QR code, Data Matrix are widely used in diverse industries. Recently, QR code isadopted in mobile phone. They require QR code occupy some amount of area on the image to correctly operate. In other applicationof mobile robot navigation where QR code is used as landmarks, we need to detect QR code in various scale and lighting condition. Traditional approaches operate well under restricted conditions also they require the setting of many parameters. In this paper, wedeal with the detection of QR code in wild including various lighting condition and scale. We adopt the Mask R-CNN [11] for thedetection of QR code. It requires many training images to have good performance. We present a method that uses composite imageswhich is made under general perspective transform. QR code under reference poses and real images are composited by the presentedmethod. We present various experimental results under diverse configuration of hyperparameters. Sequential step of first trainingusing many composite images then finally training using real images show the best performance. Experimental results show thefeasibility of presented approach.

Automatic Registration of Two Parts using Robot with Multiple 3D Sensor Systems

하종은 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.4

In this paper, we propose an algorithm for the automatic registration of two rigid parts using multiple 3D sensor systems on a robot. Four sets of structured laser stripe system consisted of a camera and a visible laser stripe is used for the acquisition of 3D information. Detailed procedures including extrinsic calibration among four 3D sensor systems and hand/eye calibration of 3D sensing system on robot arm are presented. We find a best pose using search-based pose estimation algorithm where cost function is proposed by reflecting geometric constraints between sensor systems and target objects. A pose with minimum gap and height difference is found by greedy search. Experimental result using demo system shows the robustness and feasibility of the proposed algorithm.

마커와 카메라를 이용한 스키드 구동 이동 로봇의 회전 운동 분석

하종은 한국전자통신학회 2016 한국전자통신학회 논문지 Vol.11 No.2

This paper deals with analysis of the characteristics of mobile robot’s motion by automatic detection of markers on a robot using a camera. Analysis of motion behaviors according to parameters is important in developing control algorithm for robot operation or autonomous navigation. For this purpose, we use four chessboard patterns on the robot. Their location on the robot is adjusted to be on single plane. Homography is used to compute the actual amount of movement of the robot. Presented method is tested using P3-AT robot and it gives reliable results. 본 논문에서는 이동 로봇에 마커를 부착하여 이를 카메라를 통해 자동으로 추출하여 이동 로봇의 운동 특성을 분석하는 방법에 대해 다루도록 한다. 이동 로봇의 구동을 위한 제어 알고리듬의 개발이나 자율 이동 관련 알고리듬 개발시 인자값에 따른 운동 특성 분석은 중요한 부분이다. 이의 분석을 위해 본 논문에서는 네 개의 체스보드 형태의 마커를 이동 로봇에 부착하여 사용하도록 한다. 이들 네 개의 마커들은 동일 평면에 존재하도록 배치하도록 한다. 평면 호모그라피를 이용하여 로봇의 실제 이동량을 계산하도록 한다. 제시된 방법은 P3-AT 로봇을 이용하여 실험을 수행하였으며 안정적인 운동 분석이 가능하였다.

Automatic Manipulation of Tie Rod using Robot with 3D Sensing System

하종은,이왕헌 대한전기학회 2014 Journal of Electrical Engineering & Technology Vol.9 No.6

Robots are widely used in various automation processes in industrial applications. Traditionally, it operated under fixed condition by teaching operating positions. Recently, diverse2D/3D sensors are used together with robot to give more flexibility in operation. In this paper, we dealwith automatic manipulation of tie rod in automotive production line. Sensor system consisted of acamera and slit laser is used for the acquisition of 3D information and it is used attached on the robot. Nut runner is used for the manipulation of stop nut and adjust bolt on the tie rod. Detailed proceduresfor the automatic manipulation of tie rod are presented. In the presented approach, we effectively use3D information in whole procedure such as computing distance to the tie rod, rotation angle of bolt andnut. Experimental results show the feasibility of the proposed algorithm.

내시경적으로 제거한 식도의 과립 세포 종양 -증례보고 및 국내 문헌 고찰-

하종,이옥재,조활석,정태식,윤지향,이은정,민현주,김태효,정운태,조중현 대한소화기내시경학회 2003 Clinical Endoscopy Vol.26 No.2

Granular cell tumor is a benign tumor, commonly found in the skin, tongue, and breast but rarely in the esophagus. A 44-year-old man was referred from the private clinic because of an esophageal lesion found on endoscopy. Esophagoscopy revealed a white-yellowish polypoid lesion covered with normal looking mucosa in the upper esophagus. It was movable within the wall by pushing with forceps. Endoscopic polypectomy after ligation with elastic "O" band was performed without complication. Histologic diagnosis of granular cell tumor was made. It was stained strongly positive for S-100 protein. Another 20 cases of esophageal granular cell tumors reported in Korean literature were reviewed. (Korean J Gastrointest Endosc 2003;26:84-89) 과립세포종은 양성 종양으로 피부, 구강, 유방 등에서는 흔하지만, 식도에서는 드물게 발생한다. 저자들은 식후 상복부 불편감으로 위내시경 검사를 받은 후 식도의 점막하종양을 발견하고 내원한 44세 남자에서, ‘O’형 밴드 결찰술을 이용한 용종절제술을 시행하고 조직학적으로 과립세포종으로 확진하였기에 국내의 문헌고찰을 중심으로 보고한다.